An automatic target spraying vehicle based on machine vision

Abstract

The present invention discloses an automatic target spraying vehicle based on machine vision, which consists of a voltage-stabilizing drug supply system, an image acquisition and recognition system, a drug application control system, a power system, and a precision drug application platform. The voltage-stabilizing drug supply system includes a pesticide box, a filter, a water pump, a voltage-stabilizing tank, a drug pump controller, etc.; the image acquisition and recognition system includes a vehicle-mounted computer and a visual sensor; the drug application control system includes a single-chip microcomputer, a slide controller, a slide, a solenoid valve drive board, a solenoid valve, and a nozzle; the power system includes a battery, a voltage reducer, and an isolation voltage reducer; the precision drug application platform includes a steering servo, an electronic speed regulator, a drive motor, wheels, a double-layer aluminum alloy frame, and front and rear wheel brackets. The present invention has the following beneficial effects: it takes into account distributed electric drive and mobile terminal control, and can automatically identify, locate and prevent crop diseases, and can adapt to the automated target spraying operation tasks of various crops in various terrains such as mountains and hills and narrow areas.

Description

Technical Field

[0001] The present invention relates to the technical field of smart agricultural machinery, and in particular to an automatic target spraying vehicle based on machine vision. Background Art

[0002] Spraying chemical pesticides is currently the main means of controlling crop diseases, insect pests and weeds, and has made great contributions to increasing crop yields and improving quality. On the other hand, excessive use of pesticides also brings many problems such as pesticide damage, chemical residues, soil pollution, and reduced species diversity, threatening the ecological environment and human health, and seriously hindering the sustainable development of agriculture. It is estimated that more than 95% of pesticides have potential effects on non-target organisms and enter the environment through evaporation, surface runoff, and infiltration into the soil. At the same time, with the development of the economy and society and the deepening of urbanization, the supply of agricultural labor has been seriously affected, which will have a certain negative impact on the sustainable development of agriculture for a long time. In order to improve work efficiency and reduce labor intensity, domestic and foreign countries have begun to develop corresponding mechanical equipment, including boom sprayers for spraying pesticides. However, the traditional boom spraying device adopts a carpet spraying method, which will lead to excessive use of pesticides and cause pesticide waste and environmental pollution. Therefore, it is particularly necessary to develop equipment with automation, intelligence, and generalization that can adapt to various terrains such as mountains and hills and various crops in narrow areas. Summary of the invention

[0003] In view of the defects in the prior art, the present invention provides an automatic target spraying vehicle based on machine vision to solve the existing problems.

[0004] The present invention is realized through the following technical scheme: an automatic target spraying vehicle based on machine vision, including a voltage-stabilizing spraying system, an image acquisition and recognition system, a spraying control system, a power system, and a precision spraying platform; its characteristics are: the voltage-stabilizing spraying system includes a pesticide box, a hose, a pipeline, a water pump, a filter, a voltage-stabilizing tank, an electronic pressure gauge, and a drug pump controller, and two groups of the remaining components except the pesticide box are provided; the pesticide box is installed on the upper frame of a double-layer aluminum alloy frame; the image acquisition and recognition system includes a vehicle-mounted computer and a visual sensor, the vehicle-mounted computer is installed at the middle and rear part of the lower frame, and the visual sensor is installed in the middle of the slide.

[0005] Preferably, the pesticide application control system includes a slide, a solenoid valve, a nozzle, a slide controller, a solenoid valve drive board, and a single-chip microcomputer. The single-chip microcomputer is installed in the middle and rear part of the lower frame, and the upper part of the single-chip microcomputer is connected to the solenoid valve drive board.

[0006] Preferably, the power system includes a battery, a voltage reducer, and an isolation voltage reducer. The battery is installed in the middle of the lower frame, and the voltage reducer and the isolation voltage reducer are installed on the edge of the battery; the precision pesticide application platform includes a double-layer aluminum alloy frame and four sets of matching steering servos, front and rear wheel brackets, wheels, and drive motors. The front and rear wheel brackets are installed on the lower layer of the double-layer aluminum alloy frame, the wheels are fixed to the outer side of the lower end of the front and rear wheel brackets, the drive motor is installed on the inner side of the lower end of the front and rear wheel brackets, and the steering servo is installed at the upper end of the front and rear wheel brackets and the lower layer of the double-layer aluminum alloy frame.

[0007] Preferably, a filter is connected to the bottom of the pesticide box, and one end of the filter is connected to a water pump; the water pump is connected to a pipeline and installed on the lower layer of the double-layer aluminum alloy frame, the outlet end of the water pump is connected to a pressure-stabilizing tank, the water pump is fixedly connected to a medicine pump controller, and the outlet section of the water pump is fixedly connected to an electronic pressure gauge.

[0008] Preferably, the double-layer aluminum alloy frame is connected to the slide through a hinge device, one end of the slide is connected to the slide controller, the slide is slidably connected to the slider, the slider is fixedly connected to the solenoid valve frame, the solenoid valve is fixedly connected to the solenoid valve frame, and the outlet end of the solenoid valve is connected to the nozzle through a hose; the slide controller is connected to the slide frame, the slide track is riveted to the slide frame, the slider is connected to the slide track, the external sensor sheet is riveted to the slider, the upper part of the slide frame is connected to the slide rail, the end of the slide rail is connected to the end T-shaped plate, the inside of the slide rail is connected to the starting end T-shaped plate, the solenoid valve body is connected to the solenoid valve frame, a fixing cap is riveted to the solenoid valve body through bolts, a copper coil is riveted to the fixing cap, the copper coil is connected to the wiring inlet and outlet, the solenoid valve body is connected to the liquid cap through a connecting hose, and the liquid cap is connected to the air cap and the guard ring.

[0009] Preferably, the double-layer aluminum alloy frame includes an upper frame, four frame pillars, two rear baffles, four steering servo brackets, and a lower frame; the front and rear wheel brackets of the precision pesticide application platform include nuts, locking washers, bearing caps a, bearings a, bearings b, bearing caps b, pipelines, columns, and couplings; the upper frame is connected to the four frame pillars by welding, the lower frame is connected to the four frame pillars by welding, the four steering servo brackets are respectively fixed to the lower frame by threaded connections, the rear baffle is connected to the upper frame and the lower frame by welding; the columns are connected to the double-layer aluminum alloy frame by keys The column is fixed to the lower layer of the double-layer aluminum alloy frame by nuts and locking washers, the bearing cover a is sleeved on the column and fixed to the upper end of the lower layer of the double-layer aluminum alloy frame by riveting, the bearing a is sleeved on the column and placed between the bearing cover a and the lower layer of the double-layer aluminum alloy frame; the bearing cover b is sleeved on the column and fixed to the lower end of the lower layer of the double-layer aluminum alloy frame by riveting, the bearing b is sleeved on the column and placed between the lower layer of the double-layer aluminum alloy frame and the bearing cover b; the pipeline is installed on the side of the column close to the double-layer aluminum alloy frame and connected to the drive motor; the coupling is installed at the lowest part of the column to connect the wheel and the drive motor.

[0010] The beneficial effects of the present invention are as follows: 1. The present invention applies deep convolutional neural network technology to agricultural production activities, making agricultural tasks such as monitoring, diagnosis, and pesticide application more efficient, accurate, and labor-saving. Through precise resource management, resource waste is reduced and production costs are reduced. At the same time, the use of pesticides is reduced, the risk of soil and water pollution is reduced, which helps to protect the ecosystem and reduce adverse effects on the environment.

[0011] 2. The present invention adopts the target application technology, which can improve the spraying effect of chemical pesticides, save the amount of pesticides used, increase the utilization rate of pesticides, reduce the waste of pesticides, reduce environmental pollution, improve crop quality, improve agricultural production efficiency, and prevent excessive use of pesticides.

[0012] 4. The automatic target spraying device of the present invention can realize the target spraying operation of multiple crops and multiple diseases. It is not limited to a single crop disease.

[0013] 3. The present invention is designed based on a modular solution, has a simple structure, and is low in cost. Each component is easy to replace, and is convenient for maintenance and subsequent upgrades.

[0014] 4. The present invention adopts an electrified chassis, which can alleviate the exhaust pollution problem of fuel power, especially in a closed planting environment, and can avoid the harm of exhaust emissions to the physical and mental health of operators.

[0015] 5. The present invention adopts electric four-wheel drive, eliminating the need for a transmission device, has a simple structure, flexible steering, and good maneuverability, and can adapt to target spraying tasks in narrow terrain areas and closed planting areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the pressure-stabilizing medicine supply system of the present invention.

[0019] Figure 3 It is a structural schematic diagram of the pesticide application control system of the present invention.

[0020] Figure 4 It is a schematic diagram of the slide structure of the present invention.

[0021] Figure 5 It is a schematic diagram of the power system structure of the present invention.

[0022] Figure 6 It is a schematic diagram of the solenoid valve and nozzle structure of the present invention.

[0023] Figure 7 It is a structural schematic diagram of the front and rear wheel brackets of the present invention.

[0024] Figure 8 It is a schematic diagram of a double-layer aluminum alloy frame of the present invention.

[0025] Fig. 9 It is a schematic diagram of the automatic target drug administration implemented by the present invention.

[0026] In the attached figure, there is a pressure-stabilizing drug supply system (1), an image acquisition and recognition system (2), a drug application control system (3), a power system (4), a precision drug application platform (5), a pesticide box (1-1), a hose (1-2), a pipeline (1-3), a water pump (1-4), a filter (1-5), a pressure-stabilizing tank (1-6), an electronic pressure gauge (1-7), a drug pump controller (1-8), an on-board computer (2-1), a visual sensor (2-2), a slide table (3-1 ), end T-shaped plate (3-11), slide rail (3-12), slide frame (3-13), external sensor plate (3-14), solenoid valve frame (3-15), starting end T-shaped plate (3-16), slider (3-17), slide rail (3-18), hinge device (3-19), solenoid valve (3-2), solenoid valve body (3-21), wiring inlet and outlet (3-22), bolt (3-23), copper coil (3-24), connection soft Tube (3-25), fixing cap (3-26), nozzle (3-3), liquid cap (3-31), retaining ring (3-32), air cap (3-33), slide controller (3-4), solenoid valve drive board (3-5), single chip microcomputer (3-6), battery (4-1), voltage reducer (4-2), isolation voltage reducer (4-3), double-layer aluminum alloy frame (5-1), upper frame (5-11), frame support (5-12), tailgate (5- 13), steering servo bracket (5-14), lower frame (5-15), steering servo (5-2), front and rear wheel brackets (5-3), nuts (5-31), locking washers (5-32), bearing cover a (5-33), bearing a (5-34), bearing b (5-35), bearing cover b (5-36), pipeline (5-37), column (5-38), coupling (5-39), wheel (5-4) and drive motor (5-5). DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0029] For ease of description, spatial relative terms such as "upper," "lower," "left," and "right" may be used herein to describe the relationship of one element or feature shown in a figure relative to another element or feature. It should be understood that the spatial terms are intended to include different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figure is inverted, elements described as being "below" other elements or features will be positioned "above" the other elements or features. Thus, the exemplary term "below" may include both upper and lower orientations.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation of the present invention is described in detail below in conjunction with specific embodiments: Figure 1-Figure 9 The present invention is achieved by the following technical solutions:

[0032] like Figure 1 As shown: An automatic target spraying vehicle based on machine vision includes a voltage-stabilized spraying system 1, an image acquisition and recognition system 2, a spraying control system 3, a power system 4, and a precision spraying platform 5. Among them:

[0033] like Figure 1 , 2As shown: the pressure-stabilizing drug supply system 1 includes a pesticide box 1-1 and two groups of hoses 1-2, a pipeline 1-3, a water pump 1-4, a filter 1-5, a pressure-stabilizing tank 1-6, an electronic pressure gauge 1-7, and a drug pump controller 1-8. The pesticide box 1-1 is installed on the upper layer of the double-layer aluminum alloy frame 5-1. The filter 1-5 is connected to the pesticide box 1-1 and the water pump 1-4, and is installed on the lower layer of the double-layer aluminum alloy frame 5-1 to remove solid residues in the pesticide. The water pump 1-4 is connected to the pipeline 1-3 and is installed on the lower layer of the double-layer aluminum alloy frame 5-1. The pressure-stabilizing tank 1-6 is installed on the hose 1-2 at the outlet of the water pump 1-4. The drug pump controller 1-8 is installed on the water pump 1-4 on the lower layer of the double-layer aluminum alloy frame 5-1 to control the operating power of the water pump 1-4. The electronic pressure gauge 1-7 is installed at the outlet section of the water pump 1-4 to monitor the change in liquid pressure in the hose 1-2.

[0034] like Figure 1 , 3 As shown: the image acquisition and recognition system 2 includes a vehicle-mounted computer 2-1 and a visual sensor 2-2. The vehicle-mounted computer 2-1 is installed at the middle and rear part of the lower layer of the double-layer aluminum alloy frame 5-1, and the visual sensor 2-2 is installed at the middle part of the slide 3-1.

[0035] like Figure 1 , 3 , 4, 5: The pesticide application control system 3 includes a slide 3-1, a solenoid valve 3-2, a nozzle 3-3, a slide controller 3-4, a solenoid valve drive board 3-5, and a single chip computer 3-6. The slide 3-1 of the pesticide application control system 3 includes an end T-shaped plate 3-11, a slide track 3-12, a slide frame 3-13, an external sensor sheet 3-14, a solenoid valve frame 3-15, a starting end T-shaped plate 3-16, and a slider 3-17. The slide 3-1 of the pesticide application control system 3 includes an end T-shaped plate 3-11, a slide track 3-12, a slide frame 3-13, an external sensor sheet 3-14, a solenoid valve frame 3-15, a starting end T-shaped plate 3-16, a slider 3-17, a slide rail 3-18, and a hinge device 3-19. The solenoid valve 3-1 of the pesticide application control system 3 includes a solenoid valve body 3-21, a wiring inlet and outlet 3-22, a bolt 3-23, a copper coil 3-24, a connecting hose 3-25 and a fixing cap 3-26. The nozzle 3-3 of the pesticide application control system 3 includes a liquid cap 3-31, a retaining ring 3-32 and an air cap 3-33.

[0036] The single chip microcomputer 3-6 is installed in the middle and rear part of the lower layer of the double-layer aluminum alloy frame 5-1, and the slide controller 3-4 is installed at one end of the slide 3-1 close to the vehicle body. The slide is connected to the double-layer aluminum alloy frame 5-1 through a hinge device 3-19. The solenoid valve drive board 3-5 is installed on the upper part of the single chip microcomputer 3-6, and the solenoid valve 3-2 is installed on the slider 3-17 and is pulled and moved by the slider 3-17. The nozzle 3-3 is installed at the outlet end of the solenoid valve 3-2 and is connected to the solenoid valve 3-2 by a hose 1-2. The slide frame 3-13 is fixed on the slide controller 3-4 on both sides of the double-layer aluminum alloy frame 5-1, and the slide rail 3-12 is riveted on the slide frame 3-13, and the slide slider 3-17 is nested on the slide rail 3-12. The external sensor sheet 3-14 is riveted to the upper part of the slide slider 3-17. The end T-shaped plate 3-11 is nested and installed at the end of the upper slide rail of the slide frame 3-13, and the starting end T-shaped plate 3-16 is installed at the inner end of the upper slide rail of the slide frame 3-13. The electromagnetic valve frame 3-15 is installed on the upper part of the slide block 3-17 by a latch, and is used to install and fix the electromagnetic valve. The electromagnetic valve body 3-21 is installed on the electromagnetic valve frame 3-15. The fixing cap 3-26 is riveted to the electromagnetic valve body 3-21 by bolts 3-23, and the copper coil 3-24 is installed on the fixing cap 3-26 by riveting. The wiring inlet and outlet 3-22 is connected to the copper coil 3-24 by threads. The connecting hose 3-25 is connected to the outlet of the electromagnetic valve body 3-21 and the inlet of the liquid cap 3-31 by interference fit, and the air cap 3-33 and the retaining ring 3-32 are connected to the liquid cap 3-31 by threads.

[0037] like Figure 6 As shown: the power system includes a battery 4-1, a voltage reducer 4-2, and an isolation voltage reducer 4-3. The battery 4-1 is installed in the middle of the lower layer of the double-layer aluminum alloy frame 5-1, and the voltage reducer 4-2 and the isolation voltage reducer 4-3 are installed on the edge of the battery 4-1.

[0038] like Figure 1 , 7 8: The precision pesticide application platform 5 includes a double-layer aluminum alloy frame 5-1 and four sets of matching steering servos 5-2, front and rear wheel brackets 5-3, wheels 5-4, and drive motors 5-5. The double-layer aluminum alloy frame 5-1 includes an upper frame 5-11, a frame support 5-12, a rear fender 5-13, a steering servo bracket 5-14, and a lower frame 5-15. The front and rear wheel brackets 5-3 of the precision pesticide application platform 5 include nuts 5-31, locking washers 5-32, bearing caps a5-33, bearings a5-34, bearings b5-35, bearing caps b5-36, pipes 5-37, columns 5-38, and couplings 5-39.

[0039] The front and rear wheel brackets 5-3 are installed on the lower layer of the double-layer aluminum alloy frame 5-1, the wheels 5-4 are fixed on the outer side of the lower end of the front and rear wheel brackets 5-3, the drive motor 5-5 is installed on the inner side of the lower end of the front and rear wheel brackets 5-3, and the steering servo 5-2 is installed on the upper end of the bracket 5-3, the lower layer of the double-layer aluminum alloy frame 5-1. The upper frame 5-11 is connected to the frame support 5-12 by welding, the lower frame 5-15 is connected to the frame support 5-12 by welding, four steering servo brackets 5-14 are respectively fixed to the lower frame 5-15 by welding, and the rear fender 5-13 is connected to the upper frame 5-11 and the lower frame 5-15 by welding. The column 5-38 is connected to the steering servo 5-2 fixed to the double-layer aluminum alloy frame 5-1 through a key connection, and the column 5-38 is fixed to the steering servo 5-2 through a nut 5-31 and a locking washer 5-32. The bearing cap a5-33 is sleeved on the column 5-38 and fixed to the upper end of the lower layer of the double-layer aluminum alloy frame 5-1 by riveting. The bearing a5-34 is sleeved on the column 5-38 and placed between the bearing cap a5-33 and the lower layer of the double-layer aluminum alloy frame 5-1. The bearing cap b5-35 is sleeved on the column 5-38 and fixed to the lower end of the lower layer of the double-layer aluminum alloy frame 5-1 by riveting. The bearing b5-35 is sleeved on the column 5-38 and placed between the lower layer of the double-layer aluminum alloy frame 5-1 and the bearing cap b5-33. The pipeline 5-37 is installed on the side of the column 5-38 close to the double-layer aluminum alloy frame 5-1 and connected to the drive motor 5-5. The coupling 5-39 is installed at the lowest part of the column 5-38 to connect the wheel 5-4 and the drive motor 5-5.

[0040] Working principle of the present invention:

[0041] When spraying pesticides to targets automatically, the camera 2-2 collects image data of field crops and transmits the data to the on-board computer 2-1. The on-board computer 2-1 sends corresponding control signals to the drive motor 5-5, the steering servo 5-2, the voltage-stabilizing drug supply system 1, and the drug application control system 3 according to the algorithm decision to control the drive motor 5-5 to move forward and backward. When braking is required, the power output of the drive motor 5-5 is interrupted and the drive motor is controlled to reverse to achieve braking of the drive wheels. When turning, the steering servo 5-2 is controlled to output power to drive the front and rear wheel brackets 5-3 to rotate, and then the wheels 5-4 turn to control the precision drug application platform 5 to the appropriate application position.

[0042] The process of drug administration to target Fig. 9 As shown:

[0043] S1: The visual cameras on both sides of the vehicle collect images of crops in the field, detect and locate diseased images in the crops. Fig. 9As shown in the shooting area, the middle gray line is the slide projection line. After the on-board computer 2-1 identifies the diseased plant, it calculates the coordinates of the plant center point. When the coordinates of the center point coincide with the slide projection line, the on-board computer 2-1 controls the precision pesticide application platform 5 to stop.

[0044] S2: In the initial state, the spray nozzle 3-3 is located on the inner side of the slide 3-1, facing the lower area. After receiving the position information from the onboard computer 2-1, the single-chip microcomputer 3-6 controls the slide controller 3-4 to drive the slide block 3-17 to pull the nozzle 3-3 to the top of the diseased crop, and controls the electromagnetic valve 3-2 to open through the electromagnetic valve driving board 3-5, so that the liquid medicine passes through the pressure-stabilized drug supply system 1 and is sprayed out after being atomized by the nozzle 3-3.

[0045] S3: After the spraying is completed, the single chip computer 3-6 controls the slide controller 3-4 to drive the slide block 3-17 to pull the nozzle 3-3 back to the initial position.

[0046] S1 to S3 are repeated to achieve drug administration to the target.

[0047] It should be noted that the shooting area and the size of the slide are determined according to the specific situation and can be adjusted for different crops. This is just an example of explanation. The sprayer adopts intermittent driving. The sprayer stops to spray the diseased crops in the shooting area. After spraying, the sprayer moves forward accurately to the target until the disease is detected again, and the next spraying operation is carried out, and this cycle repeats.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. An automatic target spraying vehicle based on machine vision, comprising a pressure-stabilizing spraying system (1), an image acquisition and recognition system (2), a spraying control system (3), a power system (4), and a precision spraying platform (5); the characteristics are: the pressure-stabilizing spraying system (1) comprises a pesticide box (1-1), a hose (1-2), a pipeline (1-3), a water pump (1-4), a filter (1-5), a pressure-stabilizing tank (1-6), an electronic pressure gauge (1-7), and a drug pump controller (1-8); except for the pesticide box (1-1), the remaining components are provided in two groups; the pesticide box (1-1) is installed on the upper frame (5-11) of the double-layer aluminum alloy frame (5-1); The image acquisition and recognition system (2) comprises an on-board computer (2-1) and a visual sensor (2-2). The visual cameras on both sides of the vehicle acquire images of crops in the field, detect disease images in the crops and locate them. The on-board computer (2-1) is installed at the middle and rear part of the lower frame (5-15), and the visual sensor (2-2) is installed at the middle part of the slide (3-1). The bottom of the pesticide box (1-1) is connected to a filter (1-5), and one end of the filter (1-5) is connected to a water pump (1-4). The water pump (1-4) is connected to a pipeline (1-3) and installed at the lower layer of the double-layer aluminum alloy frame (5-1). The outlet end of the water pump (1-4) is connected to a pressure regulating tank (1-6). The water pump (1-4) is fixedly connected to a drug pump controller (1-8), and the outlet section of the water pump (1-4) is fixedly connected to an electronic pressure gauge (1-7). The double-layer aluminum alloy frame (5-1) is connected to a hinge device (3- 19) is connected to a slide table (3-1), one end of the slide table (3-1) is connected to a slide table controller (3-4), the slide table (3-1) is slidably connected to a slider (3-17), the slider (3-17) is fixedly connected to an electromagnetic valve frame (3-15), the electromagnetic valve frame (3-15) is fixedly connected to an electromagnetic valve (3-2), and the outlet end of the electromagnetic valve (3-2) is connected to a nozzle (3-3) through a hose (1-2); the slide table controller (3-4) is connected to a slide The slide frame (3-13) is riveted to a slide rail (3-12), the slide rail (3-12) is connected to a slider (3-17), the slider (3-17) is riveted to an external sensor sheet (3-14), the upper part of the slide frame (3-13) is connected to a slide rail (3-18), the end of the slide rail (3-18) is connected to an end T-shaped plate (3-11), and the inside of the slide rail (3-18) is connected to a starting end T-shaped plate (3-16). The electromagnetic valve frame (3-15) is connected to the electromagnetic valve body (3-21), the electromagnetic valve body (3-21) is riveted to a fixing cap (3-26) via a bolt (3-23), the fixing cap (3-24) is riveted to the copper coil (3-24), the copper coil (3-24) is connected to the wiring inlet and outlet (3-22), the electromagnetic valve body (3-21) is connected to the liquid cap (3-31) via a connecting hose (3-25), and the liquid cap (3-31) is connected to an air cap (3-33) and a retaining ring (3-32).

2. The automatic target spraying vehicle based on machine vision according to claim 1 is characterized in that: The pesticide application control system (3) comprises a slide (3-1), a solenoid valve (3-2), a nozzle (3-3), a slide controller (3-4), a solenoid valve drive board (3-5), and a single chip computer (3-6). The single chip computer (3-6) is installed at the middle and rear part of the lower vehicle frame (5-15), and the upper part of the single chip computer (3-6) is connected to the solenoid valve drive board (3-5).

3. The automatic target spraying vehicle based on machine vision according to claim 1, characterized in that: The power system comprises a battery (4-1), a voltage reducer (4-2), and an isolation voltage reducer (4-3); the battery (4-1) is mounted in the middle of the lower frame (5-15); the voltage reducer (4-2) and the isolation voltage reducer (4-3) are mounted on the edge of the battery (4-1); the precision pesticide application platform (5) comprises a double-layer aluminum alloy frame (5-1) and four sets of matching steering servos (5-2), front and rear wheel brackets (5-3), wheels (5-4), and a drive motor (5-5); the front and rear wheel brackets (5-3) are mounted on the lower layer of the double-layer aluminum alloy frame (5-1); the wheels (5-4) are fixed on the outer side of the lower end of the front and rear wheel brackets (5-3); the drive motor (5-5) is installed on the inner side of the lower end of the front and rear wheel brackets (5-3); the steering servo (5-2) is mounted on the upper end of the front and rear wheel brackets (5-3) and the lower layer of the double-layer aluminum alloy frame (5-1).

4. The automatic target spraying vehicle based on machine vision according to claim 1, characterized in that: The double-layer aluminum alloy frame (5-1) comprises an upper frame (5-11), four frame pillars (5-12), two rear baffles (5-13), four steering servo frames (5-14), and a lower frame (5-15); the front and rear wheel frames (5-3) of the precision pesticide application platform (5) comprise a nut (5-31), a locking washer (5-32), a bearing cover a (5-33), a bearing a (5-34), a bearing b (5-35), a bearing cover b (5-36), a pipeline (5-37), a column (5- 38), a coupling (5-39); the upper frame (5-11) is connected to the four frame pillars (5-12) by welding, the lower frame (5-15) is connected to the four frame pillars (5-12) by welding, the four steering servo brackets (5-14) are respectively fixed to the lower frame (5-15) by threaded connection, the rear baffle (5-13) is connected to the upper frame (5-11) and the lower frame (5-15) by welding; the column (5-38) is connected to the double-layer aluminum alloy frame (5-11) by key connection. -1) is connected to the steering servo (5-2) of the double-layer aluminum alloy frame (5-1); the column (5-38) is fixed to the lower layer of the double-layer aluminum alloy frame (5-1) by a nut (5-31) and a locking washer (5-32); the bearing cover a (5-33) is sleeved on the column (5-38) and fixed to the upper end of the lower layer of the double-layer aluminum alloy frame (5-1) by riveting; the bearing a (5-34) is sleeved on the column (5-38) and placed between the bearing cover a (5-33) and the lower layer of the double-layer aluminum alloy frame (5-1); the bearing cover b (5-36) is sleeved on the column (5- The bearing b (5-35) is sleeved on the column (5-38) and is fixed to the lower end of the lower layer of the double-layer aluminum alloy frame (5-1) by riveting; the bearing b (5-35) is sleeved on the column (5-38) and is placed between the lower layer of the double-layer aluminum alloy frame (5-1) and the bearing cover b (5-36); the pipeline (5-37) is installed on the side of the column (5-38) close to the double-layer aluminum alloy frame (5-1) and is connected to the drive motor (5-5); the coupling (5-39) is installed at the lowest part of the column (5-38) and connects the wheel (5-4) and the drive motor (5-5).

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